Action Pilot

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Transcript of Action Pilot

Action PilotHow does it work?What is the robot like?Describe the robot to the model builderHow?Number of wheelsSize of the wheelsThe gear trainPosition of the wheelsOrientation of the wheelsThe encodersUsing polar coordinatesUsing Cartesian coordinatesKinematicsThe model builder generates kinematic modelsThe kinematic model translates robot speed into wheel speed.The kinematic model is represented in a matrix.The Kinematic modelThe inverse kinematic model translates changes in motor position into changes in robot position.The inverse kinematic model is represented as a matrixThe inverse kinematic modelKinematics are used to calculate motor speed from robot speed and backWhere is the robot?Use the motor encoders to calculate displacementOdometryThe odometer class maintains a Pose

A pose is the robots position ad orientation in a space.Position is the location (x, y) of the robot in respect to the originOrientation is the angle (a) of the robot in respect to the reference frame

Poseit runs in its own thread and queries the motor encoders at a regular interval tocalculate displacement and to update poseHow to move?Two kind of movesLinear move(x,y)Angular move(a)XYAHolonomic moveDefine speed at a given momentMove classesMove based on geometric function. Line, Arc, Rotation, Sinus, etc.Geometrical primitivesThese moves are non adaptiveTime span of the move is known a beforehandSpeed at any moment during the move is know beforehandMove is based on reaching a goal.GoTo, Follow, TurnTo, etc.Distance to targetAdaptiveIt is not know how long the move takes to finishSpeed changes as the position of the robot or the goal changesLinear moves can be combined with angular moves.A holonomic robot can spin while driving in a straight line

Combining movesA combined move is called an actionAction PilotExecutes actionsFunctions